WO2023000363A1 - Automatic pressure-regulating valve suitable for multi-level driving automation of commercial vehicle, and control method therefor - Google Patents

Automatic pressure-regulating valve suitable for multi-level driving automation of commercial vehicle, and control method therefor Download PDF

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Publication number
WO2023000363A1
WO2023000363A1 PCT/CN2021/109032 CN2021109032W WO2023000363A1 WO 2023000363 A1 WO2023000363 A1 WO 2023000363A1 CN 2021109032 W CN2021109032 W CN 2021109032W WO 2023000363 A1 WO2023000363 A1 WO 2023000363A1
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WIPO (PCT)
Prior art keywords
valve
pressure
braking
speed
control
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PCT/CN2021/109032
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French (fr)
Chinese (zh)
Inventor
李刚炎
包汉伟
胡剑
杨凡
王再豫
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武汉理工大学
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Application filed by 武汉理工大学 filed Critical 武汉理工大学
Priority to US17/726,500 priority Critical patent/US20230018533A1/en
Publication of WO2023000363A1 publication Critical patent/WO2023000363A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/683—Electrical control in fluid-pressure brake systems by electrically-controlled valves in pneumatic systems or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
    • B60T15/02—Application and release valves
    • B60T15/025—Electrically controlled valves
    • B60T15/027—Electrically controlled valves in pneumatic systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
    • B60T15/02—Application and release valves
    • B60T15/18—Triple or other relay valves which allow step-wise application or release and which are actuated by brake-pipe pressure variation to connect brake cylinders or equivalent to compressed air or vacuum source or atmosphere

Definitions

  • the invention relates to the technical field of the automobile manufacturing industry, in particular to a brake chamber pressure that can be adjusted quickly, accurately, independently, and in real time, and can still ensure the safety of the vehicle by manually controlling the brake when the system is out of control due to a power failure.
  • a brake chamber pressure that can be adjusted quickly, accurately, independently, and in real time, and can still ensure the safety of the vehicle by manually controlling the brake when the system is out of control due to a power failure.
  • an automatic pressure regulating valve for an electronically controlled pneumatic braking system of a braking vehicle and a control method thereof.
  • the driving automation levels of smart cars can be divided into assisted driving (Level 1, referred to as L1), partial automatic driving (L2), and conditional automatic driving (L3). level), highly automated driving (level L4), and fully autonomous driving (level L5).
  • assisted driving Level 1
  • L2 partial automatic driving
  • L3 conditional automatic driving
  • level L4 highly automated driving
  • level L5 fully autonomous driving
  • L5 level L5
  • Commercial vehicle electronically controlled pneumatic braking system is a new type of vehicle system proposed on the basis of the development of vehicle automation technology, in order to realize vehicle assisted driving and automatic driving, and comprehensively ensure the safety, stability and comfort of vehicle braking.
  • the braking system can also realize intelligent braking according to the driving needs of the vehicle; among them, automatically adjusting the braking pressure according to the driving expectations of the vehicle is the core function of the system.
  • the automatic pressure regulating valve is the basic actuator to realize the rapid, accurate and real-time adjustment of the braking pressure and the implementation of intelligent braking of the vehicle, which can ensure the safety of vehicle braking, Stability and comfort needs.
  • the adjustment of the pressure of the brake chamber is mainly realized by controlling the ABS valve, relay valve and other pressure regulating valves through the pedal valve.
  • pressure regulating valves have low pressure regulation accuracy, insufficient braking pressure and large fluctuations. , pressure response time delay and other issues, unable to meet the needs of assisted driving and automatic driving.
  • the Chinese invention patent application with the application number "201910082462.5” discloses an automatic pressure regulating valve and control method for a vehicle electronically controlled pneumatic braking system.
  • the one-way valve is connected to the manual control port. Both are connected to the control chamber of the relay valve.
  • This invention is mainly used in self-driving vehicles, limited by the check characteristics of the one-way valve, the invention can only allow the driver to complete one braking after the system is out of control due to a power failure, etc. Parking. Multi-level autonomous driving requirements cannot be guaranteed.
  • the traditional pneumatic brake pressure regulating valve cannot meet the needs of fast, accurate and independent real-time pressure regulation of the electronically controlled pneumatic brake system, and cannot meet the needs of assisted driving and automatic driving, while the existing ones can be used for electronic control.
  • the automatic pressure regulating valve of air pressure braking has problems such as imperfect function and insufficient adaptability. Therefore, these products and inventions are unable to meet the requirements of assisted driving and automatic driving of vehicles for intelligent braking.
  • the technical problem to be solved by the present invention is to provide an automatic pressure regulating valve and a control method suitable for multi-level driving automation of commercial vehicles in view of the above-mentioned defects and deficiencies in the prior art, which can be applied to commercial vehicles with multi-level driving automation
  • the electronically controlled pneumatic braking system can be used in commercial vehicle pneumatic braking systems for multi-level driving automation such as manual control braking, electronic control braking, electronic control to manual control, and manual control to electric control braking; it can quickly , Accurately and independently adjust the pressure of the brake air chamber automatically in real time, shorten the transmission delay of the air brake system, improve the reliability of the air brake system, and ensure that the system is still guaranteed in the event of a power failure or other electronic control failure.
  • Manually control the braking maintain the normal driving of the vehicle, and improve the safety of the vehicle. This device is of great significance to assisted driving and automatic driving.
  • An automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles characterized in that it includes an upper valve body, a lower valve body, a piston, a main valve core assembly, a switching valve, a high-speed intake valve and a high-speed exhaust valve; Valve, high-speed intake valve and high-speed exhaust valve are all installed on the upper end of the upper valve body; the piston is located in the cavity composed of the upper valve body and the lower valve body, which divides the cavity into the upper control cavity and the lower lower cavity; the main The spool assembly is installed on the lower valve body.
  • the switching valve, the high-speed intake valve and the high-speed exhaust valve are not powered, and are respectively in the normally open state, the normally open state and the normally closed state. state, which can ensure the completion of conventional braking through manual control.
  • the switching valve is a two-position three-way solenoid valve capable of high-speed reciprocating movement
  • the normally open air inlet b is a manually controlled air inlet connected to the pedal valve
  • the normally closed air inlet a is an electronically controlled air inlet It is connected with the electronically controlled brake gas tank, and is used to realize the switching between the two braking modes of manual control braking and electronically controlled braking.
  • the high-speed intake valve is a normally open two-position three-way solenoid valve.
  • the intake port d of the high-speed intake valve is connected to the air outlet e, and the intake port of the high-speed intake valve is connected.
  • the air port d is connected to the air outlet c of the switching valve, and the air outlet of the high-speed intake valve is connected to the control chamber A of the upper valve body;
  • the high-speed exhaust valve is a normally closed two-position three-way solenoid valve, which is not energized or the system is powered off, etc.
  • the air inlet f of the high-speed exhaust valve and the air outlet g are blocked, the air inlet of the high-speed exhaust valve is connected to the control chamber A of the upper valve body, the air outlet is connected to the atmosphere, and a muffler is installed at the air outlet;
  • the air valve and the high-speed exhaust valve control the intake and exhaust to adjust the pressure of the control chamber, and then adjust the braking pressure; therefore, the automatic pressure regulating valve can still ensure manual control in the event of a system power failure or other out-of-control situation. Normal implementation of braking.
  • a pressure detection port k is provided at the air outlet of the lower valve body, and a pressure sensor is installed inside to measure the pressure at the air outlet of the automatic pressure regulating valve in real time, so as to realize real-time control of the brake pressure.
  • the main spool assembly includes the main spool return spring and the main spool; the piston reciprocates vertically under the joint action of the pressure in the control chamber, the pressure in the lower chamber and the return spring of the main spool to control the main valve.
  • the vertical displacement of the core realizes the control of the air inlet area, and finally realizes the adjustment of the pressure of the brake chamber.
  • the present invention also provides an automatic pressure regulating valve control method suitable for multi-level driving automation of commercial vehicles, which is characterized in that the above-mentioned automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles is used to automatically adjust the braking pressure according to the braking demand , to realize automatic braking, comprising the following steps:
  • the electronically controlled air pressure braking system proposes the target braking pressure p 1 of a certain brake chamber according to the driving conditions of the vehicle, and inputs the target braking pressure value p 1 into the controller;
  • the controller drives the switching valve to act, the switching valve outlet c is connected to the high-speed intake valve inlet d, and simultaneously controls the high-speed intake valve and the high-speed exhaust valve to work, and the electronically controlled pneumatic brake of the vehicle automatically adjusts the pressure
  • the valve enters the electronic control mode
  • the pressure sensor detects the outlet pressure p2 of the automatic pressure-regulating valve of the electronically controlled pneumatic brake of the vehicle, and inputs the outlet pressure value p2 into the controller for comparison with the target brake pressure p1 ;
  • the controller controls the high-speed intake valve and the high-speed exhaust valve to work together to adjust the pressure to increase the pressure of the control chamber A, thereby increasing the displacement of the main valve core and increasing the intake port area, so that the outlet pressure p 2 increases;
  • the controller controls the high-speed intake valve and high-speed exhaust valve to work together to adjust the pressure, reducing the pressure of the control chamber A, so that the displacement of the main valve core decreases and returns to the initial position.
  • the exhaust port is connected with the atmosphere to reduce the outlet pressure p2 ;
  • the controller controls the high-speed intake valve and the high-speed exhaust valve to perform high-speed repeated actions, and adjusts the automatic pressure-regulating valve of the electronically controlled pneumatic brake of the vehicle so that the outlet pressure p 2 is infinitely close to the target braking pressure p 1 .
  • the present invention manually controls the braking pressure according to the braking demand to realize manual braking, including the following steps:
  • the automatic pressure regulating valve is in a de-energized state, and its switching valve is in the position where the air inlet b communicates with the air outlet c; the high-speed air intake valve is in a normally open state, and the air inlet d communicates with the air outlet e position; the high-speed exhaust valve is in a normally closed state and is not connected to the atmosphere;
  • the present invention quickly switches the control pressure mode according to the braking demand to realize auxiliary braking, including the following steps:
  • the electronically controlled pneumatic braking system judges the control mode of the automatic pressure regulating valve according to the driving conditions of the vehicle and the driver's operation on the brake pedal;
  • the controller judges whether to switch to the manual control braking mode based on the received information such as the pedal travel, pedaling pressure and time. If the switch is to the manual control braking mode, the The braking method shall be implemented in accordance with (7)(8)(9)(10);
  • the present invention discloses a new type of automatic pressure regulating valve for electronically controlled pneumatic braking system of commercial vehicles and its control method, which is suitable for multi-level driving automation, including an upper valve body, a lower valve body, a switching valve, a high-speed The intake valve and the high-speed exhaust valve, wherein, the two intake ports a and b of the switching valve are respectively connected to the electronically controlled brake air tank and the pedal valve in the electronically controlled pneumatic brake system, and its air outlet c is connected to the high-speed intake valve
  • the air inlet d of the valve; the air outlet e of the high-speed air intake valve and the air inlet f of the high-speed exhaust valve are jointly connected to the control chamber A in the upper valve body; the air outlet g of the high-speed exhaust valve is connected to the atmosphere.
  • the switching valve can switch the braking mode to manual control braking mode or electronic control braking mode, while the high-speed intake valve and high-speed exhaust valve jointly realize the precise control of the pressure in the control chamber under the action of the electronic control signal. , Fast and real-time adjustment; In the case of power failure, the switching valve is always connected with the foot valve to ensure the normal operation of the braking system.
  • the air inlet h of the lower valve body is connected to the service brake gas tank, the air outlet i is connected to the brake air chamber of the pneumatic brake system, and the exhaust port j is connected to the atmosphere.
  • the piston moves downward under the pressure of the control chamber to realize the change of the pressure of the brake chamber.
  • the controller receives the target pressure value and uses the pressure sensor to detect the outlet pressure signal. And the pressure of the control chamber is regulated through a specific algorithm, thereby realizing the precise, fast and real-time adjustment of the pressure of the brake chamber.
  • the automatic pressure regulating valve can be used for all levels of automatic driving vehicles and manual driving vehicles; it supports multiple levels of automatic driving, and can still ensure safety through manual control after the electronic control fails; it can be electronically controlled and manually controlled, and can also allow two Online switching of the control mode; it can reduce the response delay of the air pressure braking system, adjust the brake chamber pressure quickly, accurately and in real time, so as to improve the safety and comfort of vehicle braking, and at the same time, it can also prevent the system from losing control due to power failure and other failures. Under the circumstances, ensure the normal driving of the vehicle, so as to ensure the safety of the vehicle.
  • the present invention is oriented towards the application of intelligent braking to the electronically controlled air pressure braking system of commercial vehicles, which can shorten the air pressure transmission pipeline and reduce the transmission time delay of the air pressure braking system.
  • the present invention adopts a high-speed on-off valve to control the pressure of the control chamber, which can realize the independent and automatic adjustment of the pressure of the brake air chamber, and realizes real-time adjustment by means of pressure feedback adjustment.
  • the present invention can stably realize the service braking function of the traditional air pressure braking system even when the vehicle electric control system is powered off and fails, so as to ensure that the vehicle can run normally, thereby ensuring the driving safety of the vehicle.
  • the present invention can be applied to commercial vehicles equipped with an automatic driving system and an auxiliary driving system, and retains the manual control braking mode with high compatibility.
  • Fig. 1 is a schematic diagram of the external structure of the present invention.
  • Fig. 2 is a sectional view along line A-A in Fig. 1 .
  • Fig. 3 is a top view of the present invention with the lower valve body removed.
  • Fig. 4 is a cross-sectional view along line B-B in Fig. 3 .
  • Fig. 5 is a sectional view along line C-C in Fig. 3 .
  • FIG. 6 is a cross-sectional view along line D-D in FIG. 3 .
  • Fig. 7 is a schematic diagram of the system principle of the present invention.
  • FIG. 8 is a partially enlarged view of FIG. 6 .
  • FIG. 1 to 8 it is an automatic pressure regulating valve for a commercial vehicle electronically controlled pneumatic brake system suitable for multi-level driving automation according to the present invention, including an upper valve body, a lower valve body, a piston 3, Main spool assembly, switching valve 17, high-speed intake valve 18 and high-speed exhaust valve 19, etc.
  • the upper valve body includes an upper valve body part 2 and an upper valve body end cover 1.
  • the switching valve 17 in the upper valve body, the high-speed intake valve 18 and the high-speed exhaust valve 19 are all two-position three-way electromagnetic valves, and their structures are identical. Wherein, the structure of the high-speed exhaust valve 19 is shown in FIG. 7 .
  • the high-speed exhaust valve 19 is provided with an upper yoke 22 in the upper valve body part 2, and an end cover sealing ring 24 and an outer yoke 26 are arranged in the upper valve body end cover 1 and the upper valve body part 2, and the upper valve body
  • a valve sleeve 29 is arranged in the component 2 , and a coil 25 and a bobbin 23 are arranged in the outer yoke 26 .
  • the coil 25 is wound on the bobbin 23 , and leads out the terminal through the connection hole on the outer yoke 26 .
  • the armature 38 is located in the central holes of the upper yoke 22 and the coil frame 23 .
  • the iron core 28 is located in the central holes of the bobbin 23 , the lower yoke 27 and the valve sleeve 29 , and a thimble 37 is arranged in the central hole of the iron core 28 .
  • the spool 34 is located in the center hole of the valve sleeve 29 and below the thimble 37 .
  • a solenoid valve return spring 31 is disposed in the central hole of the valve core 34 .
  • valve sleeve 29 Between spool 34 and valve sleeve 29, be provided with sealing ring 36 on the spool, and be provided with sealing ring 32 under spool in spool 34 and upper valve body parts 2.
  • the sealing ring 33 in the spool is located between the valve sleeve 29 , the spool 34 and the upper valve body part 2 .
  • a valve sleeve upper seal ring 35 and a valve sleeve lower seal ring 30 are arranged between the valve sleeve 34 and the upper valve body part 2 .
  • the solenoid valve only the upper yoke 22, the outer yoke 26, the lower yoke 27, the iron core 28 and the armature 38 are made of ferromagnetic materials.
  • valve core 34 When the switching valve 17 in the upper valve body is not powered, the valve core 34 is at the top dead center under the spring force of the electromagnetic valve return spring 31, and the sealing ring 33 in the valve core is in contact with the valve sleeve 29, so that the switching valve
  • the air inlet 1a is isolated from the air outlet c of the switching valve, while the air inlet 2b of the switching valve communicates with the air outlet c of the switching valve.
  • the valve core 34 moves to the bottom dead center under the action of electromagnetic force, and the sealing ring 33 in the valve core contacts with the upper valve body part 2, so that the switching valve inlet 1a It communicates with the gas outlet c of the switching valve, while the gas inlet 2b of the switching valve is isolated from the gas outlet c of the switching valve.
  • the working principle of the remaining two solenoid valves is the same as that of the switching valve 17.
  • the upper valve body part 2 is provided with a longitudinally movable piston 3, and the lower valve body part 6 is provided with a main valve core 15, a main valve core return spring 13, a spring seat 7 and a stop ring 9, and the piston 3
  • a piston sealing ring 4 between the upper valve body part 2, a main valve core upper sealing ring 16 between the piston 3 and the main valve core 15, and a valve between the upper valve body part 2 and the lower valve body part 6.
  • Body seal ring 5, seal ring 14 in the main spool is provided between the main valve core 15 and the lower valve body part 6, and the lower seal ring 11 of the main spool is provided between the spring seat 7 and the lower valve body part 6.
  • the three valves in the upper valve body are all de-energized.
  • the switching valve 17 communicates with the intake port d of the high-speed intake valve and the pedal valve controlled by the driver, the high-speed intake valve 18 is in an open state, and the high-speed exhaust valve 19 is in a closed state.
  • the air pressure in the control chamber A is consistent with the output pressure of the pedal valve.
  • the air inlet h of the lower valve body is cut off from the air outlet i of the lower valve body, and the air outlet i of the lower valve body is separated from the exhaust port j of the lower valve body;
  • the pedal valve gas passes through the switching valve 17 and the high-speed intake valve 18 enter the control chamber A, so that the air pressure in the control chamber A rises, and the piston 3 moves downward to overcome the force of the main valve core return spring 13 to open the intake valve.
  • the exhaust valve is closed , the air inlet h communicates with the air outlet i, while the air outlet i is cut off from the exhaust port j;
  • the gas in the control chamber A is discharged to the atmosphere through the pedal valve, the air pressure in the chamber decreases, and the piston 3 moves upward movement, the sealing ring 16 on the main valve core is separated from the piston 3, the exhaust valve is opened, and the intake valve is closed at the same time, the air inlet h is separated from the air outlet i, and the air outlet i is connected to the exhaust port j, so that the brake air The chamber is exhausted and pressure relieved through the exhaust valve.
  • the automatic pressure regulating valve for commercial vehicle electronically controlled pneumatic braking system can meet the needs of commercial vehicle pneumatic braking systems at different levels of driving automation, such as purely electronically controlled braking and electronically controlled auxiliary systems for automatic driving.
  • driving automation such as purely electronically controlled braking and electronically controlled auxiliary systems for automatic driving.
  • the brake pressure of the brake air chamber can be quickly and accurately adjusted by a given target pressure value, which is different from different implementations.
  • the automatic pressure regulating valve can also be applied to the manual control brake mode.
  • the implementation of the automatic pressure regulating valve for the electronically controlled pneumatic braking system of commercial vehicles when facing the purely electronically controlled braking pressure regulation requirements for automatic driving is as follows:
  • the braking system calculates the target pressure value p of each brake chamber through the vehicle dynamics model and sets the target pressure value of each brake chamber p 1 is input to the corresponding controller 21, the controller 21 controls the switching valve 17 to work, the electric brake gas storage tank communicates with the control chamber A, the air pressure in the control chamber A rises, and the piston 3 is pushed under the action of the air pressure in the control chamber A Downward movement, the piston 3 moves downward and pushes the main valve core 15 to move downward, the intake valve is opened during the downward movement of the main valve core 15, at this time, the air inlet h communicates with the air outlet i, and the air inlet The compressed gas of h reaches the outlet i through the intake valve, and finally enters the brake air chamber, and the pressure of the brake air chamber increases.
  • the pressure detection port k set at the gas outlet i is connected to a pressure sensor to collect the output gas pressure in real time and feed it back to the controller 21.
  • the controller 21 compares the output air pressure p2 with the target pressure value p1. When it is detected that the output pressure p2 reaches the target pressure value p1, the controller 21 controls the high-speed intake valve 18 to be powered off, at this time the intake valve and the exhaust valve are closed, and the brake chamber pressure remains stable; When the output pressure p2 is higher than the target pressure value p1, the controller 21 controls the high-speed intake valve 18 to be energized and closed, and at the same time, the high-speed exhaust valve 19 is energized to open, and the compressed gas in the control chamber A is exhausted through the high-speed exhaust valve Port g is discharged and the air pressure decreases, the pressure of control chamber A decreases, causing the piston 3 and the main valve core 15 to move upward together.
  • the intake valve is closed under the action of the return spring, and the piston 3 and the main valve core 15 continue to move upward.
  • the sealing ring 16 on the main valve core of the main valve core is out of contact to open the exhaust valve.
  • the air outlet i is connected to the exhaust port j, and the compressed gas at the air outlet i is discharged to the atmosphere through the exhaust valve, and the braking pressure of the brake chamber decreases.
  • the controller 21 controls the high-speed intake valve 18 to be powered on and closed, the high-speed exhaust valve 19 to be de-energized and closed, and at the same time, the intake valve and exhaust valve of the lower valve body are closed.
  • the pressure of the brake chamber remains stable; when it is detected that the output pressure p 2 is lower than the target pressure value p 1 , the controller 21 controls the high-speed intake valve 18 to open, the high-speed exhaust valve 19 is de-energized and closed, and the air pressure in the control chamber A increases , the intake valve is driven to open, the output pressure rises, and when the output pressure p2 reaches the target value p1, the high - speed intake valve 18 is energized and closed, the intake valve and exhaust valve are closed, and the brake chamber pressure remains stable. Repeating the above process can adjust the output pressure p2 to be consistent with the target pressure value p1.
  • the implementation of the automatic pressure regulating valve for electronically controlled pneumatic braking system of a commercial vehicle is as follows: During the normal braking process of the vehicle, the braking system calculates the braking pressure according to the vehicle dynamic model and the pedal stroke The brake demand pressure p 1 of the air chamber, the driver depresses the brake pedal, the output pressure of the automatic pressure regulating valve is p 3 , and the brake system compares the brake demand pressure p 1 with the actual pressure p 3 . When it is detected that the output pressure p 3 reaches the target pressure value p 1 , the controller 21 controls the switching valve 17 to be de-energized to open, and the high-speed intake valve 18 is energized to close.
  • the intake valve and exhaust valve are closed, and the brake chamber The pressure remains stable; when it is detected that the output pressure p 3 is higher than the target pressure value p 1 , the controller 21 controls the high-speed intake valve 18 to be energized and closed, and at the same time, the high-speed exhaust valve 19 is energized to open, and the compressed gas in the control chamber A
  • the air pressure is reduced through the discharge of the exhaust port g of the high-speed exhaust valve, and the pressure of the control chamber A is reduced so that the piston 3 and the main valve core 15 move upward together.
  • the intake valve is closed by the return spring and continues to move upward.
  • the sealing ring 16 on the main valve core on the piston 3 and the main valve core 15 is out of contact to open the exhaust valve.
  • the gas outlet i is connected to the exhaust port j, and the compressed gas at the gas outlet i is discharged to the atmosphere through the exhaust valve.
  • the braking pressure of the brake chamber decreases.
  • the controller 21 controls the high - speed intake valve 18 to be powered on and closed, and the high-speed exhaust valve 19 to be powered off and closed.
  • the lower valve body enters The air valve and the exhaust valve are closed, and the pressure of the brake chamber remains stable; when it is detected that the output pressure p3 is lower than the target pressure value p1, the controller 21 controls the switching valve 17 to be powered on, and the high-speed intake valve 18 is de-energized to open , the high-speed exhaust valve 19 is de-energized and closed. At this time, it is switched to electronically controlled braking.
  • the air pressure in the control chamber A increases, driving the intake valve to open, and the output pressure increases.
  • the controller 21 controls the switching valve 17 to be de-energized, the high-speed intake valve 18 is energized and closed, the high-speed exhaust valve 19 is de-energized and closed, the intake valve and the exhaust valve are closed, and the brake chamber pressure remains stable. Repeating the above process can adjust the output pressure p2 to be consistent with the target pressure value p1.
  • the controller 21 When the vehicle needs emergency braking, the controller 21 directly energizes the switching valve 17, then the compressed gas enters the control chamber A through the high-speed intake valve 18, and the air pressure in the control chamber A increases to push the piston 3 to move downward, and then pushes the main valve
  • the core 15 moves down to open the intake valve, the intake port h communicates with the air outlet i, and the brake chamber pressurizes and brakes.
  • the controller 21 controls the high-speed intake valve 18 to be energized to close the high-speed exhaust valve 19.
  • the high-speed exhaust valve 19 is energized to open, and all the compressed gas in the control chamber A is discharged. It is fully discharged through the exhaust valve, thereby releasing the brake, and then de-energizing the switching valve 17 .
  • the implementation of the automatic pressure regulating valve for the electronically controlled pneumatic braking system of commercial vehicles is as follows when manually controlling the braking: during the normal braking process of the vehicle, the automatic pressure regulating valve is not energized at this time, and the switching valve 17 is in the normally open state.
  • the high-speed intake valve 18 is in a normally open state and the high-speed exhaust valve 19 is in a normally closed state.
  • the compressed air passes through the manually controlled brake air inlet b of the switching valve 17, enters the control chamber A through the high-speed air intake valve 18, and the air pressure in the control chamber A rises to push the piston 3 to move downward, and then The main valve core 15 moves down to open the intake valve, the intake port h communicates with the air outlet i, and the brake chamber pressurizes and brakes.

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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Braking Systems And Boosters (AREA)

Abstract

An automatic pressure-regulating valve suitable for multi-level driving automation of a commercial vehicle, and a control method therefor. The automatic pressure-regulating valve comprises an upper valve body, a lower valve body, a piston (3), a main valve element assembly, a switching valve (17), a high-speed air intake valve (18) and a high-speed exhaust valve (19), wherein the switching valve (17), the high-speed air intake valve (18) and the high-speed exhaust valve (19) are all mounted at an upper end of the upper valve body; the piston (3) is located in a cavity formed by the upper valve body and the lower valve body, and divides the cavity into a control cavity at an upper portion and a lower cavity at a lower portion; and the main valve element assembly is mounted on the lower valve body. The automatic pressure-regulating valve and the control method are suitable for a commercial vehicle with a multi-level driving automation function, and can be used in a commercial vehicle air-pressure braking system with multi-level driving automation functions, such as manual control braking, electric control braking, electric control to manual control, and manual control to electric control braking; the pressure of a brake chamber can be rapidly, accurately and independently adjusted automatically in real time; a transmission time delay of the air pressure brake system is shortened; the reliability of the air pressure brake system is improved; manual control braking can still be guaranteed when an electric control failure fault, such as power failure, occurs in the system; and normal running of a vehicle is maintained.

Description

适于商用车多层级驾驶自动化的自动调压阀及控制方法Automatic pressure regulating valve and control method suitable for multi-level driving automation of commercial vehicles 技术领域technical field
本发明涉及汽车制造业技术领域，特别是涉及一种能够快速、精确、独立、实时调节制动气室压力，并能在***断电故障等失控时仍可以通过人工控制制动来保障车辆安全制动的车辆电控气压制动***用自动调压阀及其控制方法。The invention relates to the technical field of the automobile manufacturing industry, in particular to a brake chamber pressure that can be adjusted quickly, accurately, independently, and in real time, and can still ensure the safety of the vehicle by manually controlling the brake when the system is out of control due to a power failure. Disclosed are an automatic pressure regulating valve for an electronically controlled pneumatic braking system of a braking vehicle and a control method thereof.
技术背景technical background
根据美国汽车工程师协会(Society of Automotive Engineers，SAE)的定义，智能汽车的驾驶自动化等级可以划分为辅助驾驶(Level 1，简称L1级)、部分自动驾驶(L2级)、有条件自动驾驶(L3级)、高度自动驾驶(L4级)、完全自动驾驶(L5级)。针对驾驶辅助阶段，有些国家和地区已将主动安全与ADAS作为法规进行强制要求。针对商用车ADAS辅助***也在逐步推进商用车智能化产业进程。According to the definition of the Society of Automotive Engineers (SAE), the driving automation levels of smart cars can be divided into assisted driving (Level 1, referred to as L1), partial automatic driving (L2), and conditional automatic driving (L3). level), highly automated driving (level L4), and fully autonomous driving (level L5). For the driving assistance stage, some countries and regions have made active safety and ADAS compulsory as regulations. The commercial vehicle ADAS auxiliary system is also gradually promoting the process of commercial vehicle intelligent industry.
商用车电控气压制动***是随着车辆自动化技术的发展、为实现车辆辅助驾驶和自动驾驶、综合保障车辆制动的安全性、稳定性和舒适性等基础上提出的一种新型车辆制动***，除可实现传统气压制动***全面功能外，可按车辆行驶需求实现智能制动；其中，按照车辆行驶的期望自动调节制动压力是***的核心功能。自动调压阀作为商用车电控气压制动***的核心调压元件，是实现制动压力的快速、精确、实时调节以及实施车辆智能制动的基础执行件，能够保证车辆制动安全性、稳定性和舒适性需求。Commercial vehicle electronically controlled pneumatic braking system is a new type of vehicle system proposed on the basis of the development of vehicle automation technology, in order to realize vehicle assisted driving and automatic driving, and comprehensively ensure the safety, stability and comfort of vehicle braking. In addition to realizing the comprehensive functions of the traditional pneumatic braking system, the braking system can also realize intelligent braking according to the driving needs of the vehicle; among them, automatically adjusting the braking pressure according to the driving expectations of the vehicle is the core function of the system. As the core pressure regulating component of the electronically controlled pneumatic braking system of commercial vehicles, the automatic pressure regulating valve is the basic actuator to realize the rapid, accurate and real-time adjustment of the braking pressure and the implementation of intelligent braking of the vehicle, which can ensure the safety of vehicle braking, Stability and comfort needs.
在气压制动***中，制动气室压力的调节主要通过踏板阀控制ABS阀、继动阀等调压阀实现，但此类调压阀存在调压精度低，制动压力不足、波动大、压力响应时延大等问题，无法适应辅助驾驶和自动驾驶的需求。而电控气压制动***发展尚未成熟，针对面向智能制动的自动调压阀的研究也较少。申请号为“201910082462.5的中国发明专利申请公开了一种车辆电控气压制动***用自动调压阀及控制方法，其单向阀与手动控制口连接，单向阀、高速进、排气阀均连接至继动阀的控制腔。该发明主要应用于自动驾驶车辆中，受限于单向阀的止回特性，该发明在***断电故障等失控后仅能允许驾驶员完成一次制动停车。无法保障多层级的自动驾驶需求。In the pneumatic braking system, the adjustment of the pressure of the brake chamber is mainly realized by controlling the ABS valve, relay valve and other pressure regulating valves through the pedal valve. However, such pressure regulating valves have low pressure regulation accuracy, insufficient braking pressure and large fluctuations. , pressure response time delay and other issues, unable to meet the needs of assisted driving and automatic driving. However, the development of the electronically controlled pneumatic braking system is not yet mature, and there are few researches on the automatic pressure regulating valve for intelligent braking. The Chinese invention patent application with the application number "201910082462.5" discloses an automatic pressure regulating valve and control method for a vehicle electronically controlled pneumatic braking system. The one-way valve is connected to the manual control port. Both are connected to the control chamber of the relay valve. This invention is mainly used in self-driving vehicles, limited by the check characteristics of the one-way valve, the invention can only allow the driver to complete one braking after the system is out of control due to a power failure, etc. Parking. Multi-level autonomous driving requirements cannot be guaranteed.
总体来说，传统气压制动调压阀无法满足电控气压制动***的快速、精确、 独立地实时调压的需求，无法适应辅助驾驶和自动驾驶的需求，而现有的可用于电控气压制动的自动调压阀存在功能不完善、适应性不足等问题。因此，这些产品及发明都无法很好地面向智能制动实现车辆的辅助驾驶和自动驾驶要求。Generally speaking, the traditional pneumatic brake pressure regulating valve cannot meet the needs of fast, accurate and independent real-time pressure regulation of the electronically controlled pneumatic brake system, and cannot meet the needs of assisted driving and automatic driving, while the existing ones can be used for electronic control. The automatic pressure regulating valve of air pressure braking has problems such as imperfect function and insufficient adaptability. Therefore, these products and inventions are unable to meet the requirements of assisted driving and automatic driving of vehicles for intelligent braking.
发明内容Contents of the invention
本发明要解决的技术问题是针对现有技术中存在的上述缺陷和不足，提供一种适于商用车多层级驾驶自动化的自动调压阀及控制方法，能够适用于多层级驾驶自动化的商用车电控气压制动***，能够在人工控制制动、电控制动、电控转人工控制以及人工控制转电控制动等多层级的驾驶自动化的商用车气压制动***中使用；能够快速、精确、独立地实时自动调节制动气室的压力，缩短气压制动***的传输时延，提升气压制动***的可靠性，并在***发生断电等电控失效的故障时仍能保障人工控制制动，维持车辆的正常行驶，提高车辆安全，本装置对辅助驾驶和自动驾驶具有重要的意义。The technical problem to be solved by the present invention is to provide an automatic pressure regulating valve and a control method suitable for multi-level driving automation of commercial vehicles in view of the above-mentioned defects and deficiencies in the prior art, which can be applied to commercial vehicles with multi-level driving automation The electronically controlled pneumatic braking system can be used in commercial vehicle pneumatic braking systems for multi-level driving automation such as manual control braking, electronic control braking, electronic control to manual control, and manual control to electric control braking; it can quickly , Accurately and independently adjust the pressure of the brake air chamber automatically in real time, shorten the transmission delay of the air brake system, improve the reliability of the air brake system, and ensure that the system is still guaranteed in the event of a power failure or other electronic control failure. Manually control the braking, maintain the normal driving of the vehicle, and improve the safety of the vehicle. This device is of great significance to assisted driving and automatic driving.
为解决上述技术问题，本发明采用了以下技术方案：In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:
一种适于商用车多层级驾驶自动化的自动调压阀，其特征在于：包括上阀体、下阀体、活塞、主阀芯组件、切换阀、高速进气阀和高速排气阀；切换阀、高速进气阀和高速排气阀均安装于上阀体上端；活塞位于上阀体和下阀体组成的腔体内，将腔体分为上部的控制腔和下部的下腔体；主阀芯组件安装于下阀体。An automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles, characterized in that it includes an upper valve body, a lower valve body, a piston, a main valve core assembly, a switching valve, a high-speed intake valve and a high-speed exhaust valve; Valve, high-speed intake valve and high-speed exhaust valve are all installed on the upper end of the upper valve body; the piston is located in the cavity composed of the upper valve body and the lower valve body, which divides the cavity into the upper control cavity and the lower lower cavity; the main The spool assembly is installed on the lower valve body.
上述技术方案中，所述自动调压阀在***断电故障在内的失控情况下，切换阀、高速进气阀和高速排气阀不得电，分别处于常通状态、常通状态和常闭状态，能够保证通过人工控制完成常规制动。In the above technical solution, when the automatic pressure regulating valve is out of control including a system power failure, the switching valve, the high-speed intake valve and the high-speed exhaust valve are not powered, and are respectively in the normally open state, the normally open state and the normally closed state. state, which can ensure the completion of conventional braking through manual control.
上述技术方案中，所述切换阀为能够高速往复运动的二位三通电磁阀，常开进气口b为人工控制进气口，与踏板阀连通，常闭进气口a为电控进气口，与电控制动气罐连通，用于实现人工控制制动和电控制动两种制动模式之间的切换，切换阀在包括不通电或***断电故障在内的失控状态下，连通踏板阀和高速进气阀的进气口d。In the above technical solution, the switching valve is a two-position three-way solenoid valve capable of high-speed reciprocating movement, the normally open air inlet b is a manually controlled air inlet connected to the pedal valve, and the normally closed air inlet a is an electronically controlled air inlet It is connected with the electronically controlled brake gas tank, and is used to realize the switching between the two braking modes of manual control braking and electronically controlled braking. Air intake d for the pedal valve and high-velocity intake valve.
上述技术方案中，所述高速进气阀为常开二位三通电磁阀，不通电或***断电故障等失控时高速进气阀进气口d和出气口e连通，高速进气阀进气口d连接切换阀的出气口c，高速进气阀出气口连接上阀体的控制腔A；所述高速排气阀为常闭二位三通电磁阀，不通电或***断电故障等失控时高速排气阀进气口f和出气口g不通，高速排气阀进气口连接上阀体的控制腔A，出气口连接至大气， 出气口处设有一个消音器；采用高速进气阀和高速排气阀控制进、排气以调节控制腔的压力，进而调节制动压力；因此，所述自动调压阀能在***断电故障等失控的情况下，依旧能够保证人工控制制动的正常实现。In the above technical solution, the high-speed intake valve is a normally open two-position three-way solenoid valve. When the power is not energized or the system is out of control, the intake port d of the high-speed intake valve is connected to the air outlet e, and the intake port of the high-speed intake valve is connected. The air port d is connected to the air outlet c of the switching valve, and the air outlet of the high-speed intake valve is connected to the control chamber A of the upper valve body; the high-speed exhaust valve is a normally closed two-position three-way solenoid valve, which is not energized or the system is powered off, etc. When out of control, the air inlet f of the high-speed exhaust valve and the air outlet g are blocked, the air inlet of the high-speed exhaust valve is connected to the control chamber A of the upper valve body, the air outlet is connected to the atmosphere, and a muffler is installed at the air outlet; The air valve and the high-speed exhaust valve control the intake and exhaust to adjust the pressure of the control chamber, and then adjust the braking pressure; therefore, the automatic pressure regulating valve can still ensure manual control in the event of a system power failure or other out-of-control situation. Normal implementation of braking.
上述技术方案中，在所述下阀体出气口设有压力检测口k，内设压力传感器，实时测量自动调压阀出气口的压力，实现制动压力实时控制。In the above technical solution, a pressure detection port k is provided at the air outlet of the lower valve body, and a pressure sensor is installed inside to measure the pressure at the air outlet of the automatic pressure regulating valve in real time, so as to realize real-time control of the brake pressure.
上述技术方案中，主阀芯组件包括主阀芯回位弹簧和主阀芯；活塞在控制腔的压力、下腔体压力和主阀芯回位弹簧的共同作用下垂直往复运动，控制主阀芯的垂直位移，实现进气口面积的控制，最终实现制动气室压力的调节。In the above technical solution, the main spool assembly includes the main spool return spring and the main spool; the piston reciprocates vertically under the joint action of the pressure in the control chamber, the pressure in the lower chamber and the return spring of the main spool to control the main valve. The vertical displacement of the core realizes the control of the air inlet area, and finally realizes the adjustment of the pressure of the brake chamber.
本发明还提供一种适于商用车多层级驾驶自动化的自动调压阀控制方法，其特征在于采用上述的适于商用车多层级驾驶自动化的自动调压阀根据制动需求自动调节制动压力，实现自动制动，包括如下步骤：The present invention also provides an automatic pressure regulating valve control method suitable for multi-level driving automation of commercial vehicles, which is characterized in that the above-mentioned automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles is used to automatically adjust the braking pressure according to the braking demand , to realize automatic braking, comprising the following steps:
(1)电控气压制动***根据车辆行驶状况提出某一制动气室的目标制动压力p 1，并将该目标制动压力值p 1输入控制器中； (1) The electronically controlled air pressure braking system proposes the target braking pressure p 1 of a certain brake chamber according to the driving conditions of the vehicle, and inputs the target braking pressure value p 1 into the controller;
(2)控制器驱动切换阀动作，切换阀出气口c接通高速进气阀进气口d，同时控制高速进气阀和高速排气阀工作，所述车辆电控气压制动自动调压阀进入电控工作模式；(2) The controller drives the switching valve to act, the switching valve outlet c is connected to the high-speed intake valve inlet d, and simultaneously controls the high-speed intake valve and the high-speed exhaust valve to work, and the electronically controlled pneumatic brake of the vehicle automatically adjusts the pressure The valve enters the electronic control mode;
(3)压力传感器检测所述车辆电控气压制动自动调压阀出口压力p 2，并将该出口压力值p 2输入控制器中与目标制动压力p 1比较； (3) The pressure sensor detects the outlet pressure p2 of the automatic pressure-regulating valve of the electronically controlled pneumatic brake of the vehicle, and inputs the outlet pressure value p2 into the controller for comparison with the target brake pressure p1 ;
(4)当p 2不大于p 1时，控制器控制高速进气阀、高速排气阀协同工作进行调压，增大控制腔A的压力，进而增大主阀芯位移，增加进气口面积，使出口压力p 2升高； (4) When p 2 is not greater than p 1 , the controller controls the high-speed intake valve and the high-speed exhaust valve to work together to adjust the pressure to increase the pressure of the control chamber A, thereby increasing the displacement of the main valve core and increasing the intake port area, so that the outlet pressure p 2 increases;
(5)当p 2大于p 1时，控制器控制高速进气阀、高速排气阀协同工作进行调压，减小控制腔A的压力，使得主阀芯位移减小，回归至初始位置，同时排气口与大气相连通，使出口压力p 2降低； (5) When p 2 is greater than p 1 , the controller controls the high-speed intake valve and high-speed exhaust valve to work together to adjust the pressure, reducing the pressure of the control chamber A, so that the displacement of the main valve core decreases and returns to the initial position. At the same time, the exhaust port is connected with the atmosphere to reduce the outlet pressure p2 ;
(6)控制器控制高速进气阀和高速排气阀进行高速反复动作，调节所述车辆电控气压制动自动调压阀，使得其出口压力p 2无限接近目标制动压力p 1。 (6) The controller controls the high-speed intake valve and the high-speed exhaust valve to perform high-speed repeated actions, and adjusts the automatic pressure-regulating valve of the electronically controlled pneumatic brake of the vehicle so that the outlet pressure p 2 is infinitely close to the target braking pressure p 1 .
进一步的，本发明根据制动需求人工控制制动压力，实现人工制动，包括如 下步骤：Further, the present invention manually controls the braking pressure according to the braking demand to realize manual braking, including the following steps:
(7)当驾驶员要完全独立进行车辆的制动任务，需主管进行监控周围环境和车况，通过踩下制动踏板来进行制动，调节制动气室的制动压力；(7) When the driver wants to perform the braking task of the vehicle completely independently, the supervisor needs to monitor the surrounding environment and vehicle conditions, brake by stepping on the brake pedal, and adjust the brake pressure of the brake chamber;
(8)此时的自动调压阀处于不通电状态，其切换阀处于进气口b与出气口c相通的位置；高速进气阀处于常开状态，进气口d与出气口e相通的位置；高速排气阀处于常闭状态，不与大气连通；(8) At this time, the automatic pressure regulating valve is in a de-energized state, and its switching valve is in the position where the air inlet b communicates with the air outlet c; the high-speed air intake valve is in a normally open state, and the air inlet d communicates with the air outlet e position; the high-speed exhaust valve is in a normally closed state and is not connected to the atmosphere;
(9)当驾驶员踩下制动踏板，气体经切换阀和高速进气阀进入控制腔A，通过活塞和主阀芯的运动，使得下阀体进气口h和出气口i相连通，完成制动气室的升压；(9) When the driver depresses the brake pedal, the gas enters the control chamber A through the switching valve and the high-speed intake valve, and the movement of the piston and the main valve core makes the air inlet h of the lower valve body communicate with the air outlet i, Complete the pressure boost of the brake chamber;
(10)当驾驶员松开制动踏板，控制腔气体经高速进气阀和切换阀，通过踏板阀排出的大气，下腔体的气体经下阀体排气口j排出到大气；(10) When the driver releases the brake pedal, the gas in the control chamber passes through the high-speed intake valve and switching valve, and the atmosphere is discharged through the pedal valve, and the gas in the lower chamber is discharged to the atmosphere through the outlet j of the lower valve body;
进一步的，本发明根据制动需求快速切换控制压力的模式，实现辅助制动，包括如下步骤：Further, the present invention quickly switches the control pressure mode according to the braking demand to realize auxiliary braking, including the following steps:
(11)电控辅助制动车辆在常规情况下，此时电控气压制动***根据车辆行驶状况及驾驶员对制动踏板施加的操作，判断自动调压阀的控制模式；(11) Under normal circumstances for electronically controlled auxiliary braking vehicles, the electronically controlled pneumatic braking system judges the control mode of the automatic pressure regulating valve according to the driving conditions of the vehicle and the driver's operation on the brake pedal;
(12)当驾驶员踩压制动踏板时，控制器通过接收到的踏板行程、踩踏压力以及时间等信息，判断是否切换为人工控制制动模式，若切换为人工控制制动模式，此时的制动方法依照(7)(8)(9)(10)执行；(12) When the driver depresses the brake pedal, the controller judges whether to switch to the manual control braking mode based on the received information such as the pedal travel, pedaling pressure and time. If the switch is to the manual control braking mode, the The braking method shall be implemented in accordance with (7)(8)(9)(10);
(13)当人工控制制动时出现走神、踩踏制动踏板不足等问题时，同时车辆也监测到周围环境和行驶工况下制动压力不足时，切换阀会切换至电子控制制动模式，保障车辆安全，此时的控制制动方法依照(1)(2)(3)(4)(5)(6)；(13) When there are problems such as distraction and insufficient braking pedal during manual control braking, and the vehicle also detects insufficient braking pressure under the surrounding environment and driving conditions, the switching valve will switch to the electronic control braking mode. To ensure the safety of the vehicle, the control braking method at this time is in accordance with (1)(2)(3)(4)(5)(6);
(14)当***断电故障等失控时，切换阀、高速进气阀和高速排气阀都处于不通电状态，此时切换阀会切换到人工控制模式，此时的制动方法依照(7)(8)(9)(10)执行。(14) When the system is out of control due to power failure, etc., the switching valve, high-speed intake valve and high-speed exhaust valve are all in a de-energized state. At this time, the switching valve will switch to the manual control mode. The braking method at this time is in accordance with (7 )(8)(9)(10) execute.
综上所述，本发明公开了一种适于多层级驾驶自动化的新型商用车电控气压制动***用自动调压阀及其控制方法，包括上阀体、下阀体、切换阀、高速进气阀和高速排气阀，其中，切换阀的两个进气口a、b分别连接至电控气压制动***中的电控制动气罐和踏板阀，其出气口c连接至高速进气阀的进气口d；高速进气阀的出气口e和高速排气阀的进气口f共同连接至上阀体中的控制腔A；高速排气阀的出气口g则连接至大气。In summary, the present invention discloses a new type of automatic pressure regulating valve for electronically controlled pneumatic braking system of commercial vehicles and its control method, which is suitable for multi-level driving automation, including an upper valve body, a lower valve body, a switching valve, a high-speed The intake valve and the high-speed exhaust valve, wherein, the two intake ports a and b of the switching valve are respectively connected to the electronically controlled brake air tank and the pedal valve in the electronically controlled pneumatic brake system, and its air outlet c is connected to the high-speed intake valve The air inlet d of the valve; the air outlet e of the high-speed air intake valve and the air inlet f of the high-speed exhaust valve are jointly connected to the control chamber A in the upper valve body; the air outlet g of the high-speed exhaust valve is connected to the atmosphere.
在功能层面上，切换阀能将制动模式切换为人工控制制动模式或电控制动模式，而高速进气阀和高速排气阀在电控信号的作用下共同实现控制腔压力的精确、快速、实时调节；在断电情况下，切换阀一直与脚踏阀连通，确保制动***的正常工作。下阀体的进气口h连接至行车制动气罐，出气口i连接至气压制动***的制动气室，排气口j连接至大气。在自动调压阀的调压过程中，其中的活塞在控制腔的压力的作用下向下运动，实现制动气室压力的变化，控制器接收目标压力值，利用压力传感器检测出口压力信号，并通过特定算法调控控制腔的压力，进而实现制动气室压力的精确、快速、实时调节。On the functional level, the switching valve can switch the braking mode to manual control braking mode or electronic control braking mode, while the high-speed intake valve and high-speed exhaust valve jointly realize the precise control of the pressure in the control chamber under the action of the electronic control signal. , Fast and real-time adjustment; In the case of power failure, the switching valve is always connected with the foot valve to ensure the normal operation of the braking system. The air inlet h of the lower valve body is connected to the service brake gas tank, the air outlet i is connected to the brake air chamber of the pneumatic brake system, and the exhaust port j is connected to the atmosphere. During the pressure regulating process of the automatic pressure regulating valve, the piston moves downward under the pressure of the control chamber to realize the change of the pressure of the brake chamber. The controller receives the target pressure value and uses the pressure sensor to detect the outlet pressure signal. And the pressure of the control chamber is regulated through a specific algorithm, thereby realizing the precise, fast and real-time adjustment of the pressure of the brake chamber.
该自动调压阀能用于各层级自动驾驶车辆及人工驾驶车辆；支持多种自动驾驶层级，电控失效后仍能通过人工控制保证安全性；能电控、人工控制，也能允许两种控制方式的在线切换；能减小气压制动***的响应延迟，快速、精确、实时调控制动气室压，从而提高车辆制动安全性和舒适性，同时也能够在***断电故障等失控的情况下，保证车辆正常行驶，从而保证车辆的安全性。The automatic pressure regulating valve can be used for all levels of automatic driving vehicles and manual driving vehicles; it supports multiple levels of automatic driving, and can still ensure safety through manual control after the electronic control fails; it can be electronically controlled and manually controlled, and can also allow two Online switching of the control mode; it can reduce the response delay of the air pressure braking system, adjust the brake chamber pressure quickly, accurately and in real time, so as to improve the safety and comfort of vehicle braking, and at the same time, it can also prevent the system from losing control due to power failure and other failures. Under the circumstances, ensure the normal driving of the vehicle, so as to ensure the safety of the vehicle.
相对于现有技术，本发明的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:
(1)本发明面向智能制动应用于商用车电控气压制动***，能够缩短了气压传输管路，减小了气压制动***的传输时延。(1) The present invention is oriented towards the application of intelligent braking to the electronically controlled air pressure braking system of commercial vehicles, which can shorten the air pressure transmission pipeline and reduce the transmission time delay of the air pressure braking system.
(2)本发明采用高速开关阀控制控制腔的压力，可以实现独立、自动地调节制动气室压力，并采用压力反馈调节的方式来实现实时调节。(2) The present invention adopts a high-speed on-off valve to control the pressure of the control chamber, which can realize the independent and automatic adjustment of the pressure of the brake air chamber, and realizes real-time adjustment by means of pressure feedback adjustment.
(3)本发明即使在车辆电控***断电故障时，也能稳定实现传统气压制动***的行车制动功能，保障车辆能够正常行驶，从而保证车辆的行驶安全。(3) The present invention can stably realize the service braking function of the traditional air pressure braking system even when the vehicle electric control system is powered off and fails, so as to ensure that the vehicle can run normally, thereby ensuring the driving safety of the vehicle.
(4)本发明可应用于装备自动驾驶***和辅助驾驶***的商用车，且保留了人工控制制动模式，具有高兼容性。(4) The present invention can be applied to commercial vehicles equipped with an automatic driving system and an auxiliary driving system, and retains the manual control braking mode with high compatibility.
附图说明Description of drawings
图1为本发明的外形结构示意图。Fig. 1 is a schematic diagram of the external structure of the present invention.
图2为图1中沿A-A线的剖视图。Fig. 2 is a sectional view along line A-A in Fig. 1 .
图3为本发明拆去下阀体后的俯视图。Fig. 3 is a top view of the present invention with the lower valve body removed.
图4为图3中沿B-B线的剖视图。Fig. 4 is a cross-sectional view along line B-B in Fig. 3 .
图5为图3中沿C-C线的剖视图。Fig. 5 is a sectional view along line C-C in Fig. 3 .
图6为图3中沿D-D线的剖视图。FIG. 6 is a cross-sectional view along line D-D in FIG. 3 .
图7为本发明的***原理简图。Fig. 7 is a schematic diagram of the system principle of the present invention.
图8为图6的局部放大图。FIG. 8 is a partially enlarged view of FIG. 6 .
图中附图标记对应如下：1上阀体端盖，2上阀体零件，3活塞，4活塞密封圈，5阀体密封圈，6下阀体零件，7弹簧座，8弹簧座密封圈，9止动挡圈，10橡胶消音器，11主阀芯下密封圈，12弹簧挡圈，13主阀芯回位弹簧，14主阀芯中密封圈，15主阀芯，16主阀芯上密封圈，17切换阀，18高速进气阀，19高速排气阀，20消音器，21控制器，22上磁轭，23线圈骨架，24端盖密封圈，25线圈，26，外磁轭，27下磁轭，28铁心，29阀套，30阀套下密封圈，31电磁阀回位弹簧，32阀芯下密封圈，33阀芯中密封圈，34阀芯，35阀套上密封圈，36阀芯上密封圈，37顶针，38衔铁，a切换阀进气口1，b切换阀进气口2，c切换阀出气口，d高速进气阀进气口，e高速进气阀出气口，f高速排气阀排气口，g高速排气阀出气口，h下阀体进气口，i下阀体出气口，j下阀体排气口，k压力检测口，l控制器电源接口，m控制器信号接口，A控制腔。The corresponding reference signs in the figure are as follows: 1. Upper valve body end cover, 2. Upper valve body parts, 3. Piston, 4. Piston sealing ring, 5. Valve body sealing ring, 6. Lower valve body parts, 7. Spring seat, 8. Spring seat sealing ring , 9 stop retaining ring, 10 rubber muffler, 11 main spool lower sealing ring, 12 spring retaining ring, 13 main spool return spring, 14 main spool middle sealing ring, 15 main spool, 16 main spool Upper sealing ring, 17 switching valve, 18 high-speed intake valve, 19 high-speed exhaust valve, 20 muffler, 21 controller, 22 upper yoke, 23 coil bobbin, 24 end cover sealing ring, 25 coil, 26, external magnet Yoke, 27 Lower magnetic yoke, 28 Iron core, 29 Valve sleeve, 30 Lower sealing ring of valve sleeve, 31 Solenoid valve return spring, 32 Lower sealing ring of valve core, 33 Middle sealing ring of valve core, 34 Valve core, 35 Upper valve sleeve Seal ring, 36 valve core upper seal ring, 37 thimble, 38 armature, a switching valve inlet 1, b switching valve inlet 2, c switching valve outlet, d high-speed inlet valve inlet, e high-speed inlet Air valve outlet, f high-speed exhaust valve outlet, g high-speed exhaust valve outlet, h lower valve body inlet, i lower valve body outlet, j lower valve body outlet, k pressure detection port, l controller power interface, m controller signal interface, A control chamber.
具体实施方式detailed description
如图1～8所示，为根据本发明试试的一种适于多层级驾驶自动化的商用车电控气压制动***用自动调压阀，包括上阀体、下阀体、活塞3、主阀芯组件、切换阀17、高速进气阀18和高速排气阀19等。上阀体包括上阀体零件2、上阀体端盖1，上阀体零件的相互连接关系如图3～6所示；切换阀17的两个进气口a、b分别连接至电控气压制动***中的电控制动气罐和踏板阀，其出气口c连接至高速进气阀18的进气口d；高速进气阀18的出气口e和高速排气阀19的进气口f共同连接至上阀体中的控制腔A；高速排气阀19的出气口g则通过消音器20连接至大气。As shown in Figures 1 to 8, it is an automatic pressure regulating valve for a commercial vehicle electronically controlled pneumatic brake system suitable for multi-level driving automation according to the present invention, including an upper valve body, a lower valve body, a piston 3, Main spool assembly, switching valve 17, high-speed intake valve 18 and high-speed exhaust valve 19, etc. The upper valve body includes an upper valve body part 2 and an upper valve body end cover 1. The interconnection of the upper valve body parts is shown in Figures 3 to 6; the two air inlets a and b of the switching valve 17 are respectively connected to the electric control The electric control brake gas tank and pedal valve in the pneumatic brake system, its air outlet c is connected to the air inlet d of the high-speed intake valve 18; the air outlet e of the high-speed air intake valve 18 and the air inlet of the high-speed exhaust valve 19 f is commonly connected to the control chamber A in the upper valve body; the gas outlet g of the high-speed exhaust valve 19 is connected to the atmosphere through the muffler 20 .
上阀体中的切换阀17、高速进气阀18和高速排气阀19均为两位三通电磁阀，其结构相同。其中，高速排气阀19的结构如图7所示。高速排气阀19在上阀体零件2中设有上磁轭22，在上阀体端盖1和上阀体零件2中设有端盖密封圈24和外磁轭26，在上阀体零件2中设有阀套29，在外磁轭26中设有线圈25和线圈骨架23。线圈25缠绕在线圈骨架23上，并通过外磁轭26上的接线孔引出接线端。衔铁38则位于上磁轭22和线圈骨架23的中心孔中。铁心28位于线圈骨架23、下磁轭27和阀套29的中心孔中，铁心28的中心孔中设有顶针37。阀芯34位于阀套29的中心孔中，同时处于顶针37下方。阀芯34的中心孔中设有电磁阀回位弹簧31。阀芯34和阀套29之间设有阀芯上密封圈36，阀芯34和 上阀体零件2中设有阀芯下密封圈32。阀芯中密封圈33位于阀套29、阀芯34和上阀体零件2之间。阀套34和上阀体零件2之间设有阀套上密封圈35和阀套下密封圈30。所述电磁阀零件中，仅有上磁轭22、外磁轭26、下磁轭27、铁心28和衔铁38由铁磁性材料制成。The switching valve 17 in the upper valve body, the high-speed intake valve 18 and the high-speed exhaust valve 19 are all two-position three-way electromagnetic valves, and their structures are identical. Wherein, the structure of the high-speed exhaust valve 19 is shown in FIG. 7 . The high-speed exhaust valve 19 is provided with an upper yoke 22 in the upper valve body part 2, and an end cover sealing ring 24 and an outer yoke 26 are arranged in the upper valve body end cover 1 and the upper valve body part 2, and the upper valve body A valve sleeve 29 is arranged in the component 2 , and a coil 25 and a bobbin 23 are arranged in the outer yoke 26 . The coil 25 is wound on the bobbin 23 , and leads out the terminal through the connection hole on the outer yoke 26 . The armature 38 is located in the central holes of the upper yoke 22 and the coil frame 23 . The iron core 28 is located in the central holes of the bobbin 23 , the lower yoke 27 and the valve sleeve 29 , and a thimble 37 is arranged in the central hole of the iron core 28 . The spool 34 is located in the center hole of the valve sleeve 29 and below the thimble 37 . A solenoid valve return spring 31 is disposed in the central hole of the valve core 34 . Between spool 34 and valve sleeve 29, be provided with sealing ring 36 on the spool, and be provided with sealing ring 32 under spool in spool 34 and upper valve body parts 2. The sealing ring 33 in the spool is located between the valve sleeve 29 , the spool 34 and the upper valve body part 2 . A valve sleeve upper seal ring 35 and a valve sleeve lower seal ring 30 are arranged between the valve sleeve 34 and the upper valve body part 2 . Among the parts of the solenoid valve, only the upper yoke 22, the outer yoke 26, the lower yoke 27, the iron core 28 and the armature 38 are made of ferromagnetic materials.
所述上阀体中的切换阀17在不得电时，阀芯34在电磁阀回位弹簧31的弹簧力作用下处于上止点，阀芯中密封圈33与阀套29接触，使得切换阀进气口1a与切换阀出气口c隔断，而切换阀进气口2b与切换阀出气口c连通。所述上阀体中的切换阀18在得电时，阀芯34在电磁力作用下运动至下止点，阀芯中密封圈33与上阀体零件2接触，使得切换阀进气口1a与切换阀出气口c连通，而切换阀进气口2b与切换阀出气口c隔断。所述的其余两个电磁阀工作原理与切换阀17相同。When the switching valve 17 in the upper valve body is not powered, the valve core 34 is at the top dead center under the spring force of the electromagnetic valve return spring 31, and the sealing ring 33 in the valve core is in contact with the valve sleeve 29, so that the switching valve The air inlet 1a is isolated from the air outlet c of the switching valve, while the air inlet 2b of the switching valve communicates with the air outlet c of the switching valve. When the switching valve 18 in the upper valve body is energized, the valve core 34 moves to the bottom dead center under the action of electromagnetic force, and the sealing ring 33 in the valve core contacts with the upper valve body part 2, so that the switching valve inlet 1a It communicates with the gas outlet c of the switching valve, while the gas inlet 2b of the switching valve is isolated from the gas outlet c of the switching valve. The working principle of the remaining two solenoid valves is the same as that of the switching valve 17.
所述上阀体零件2内设有可纵向运动的活塞3，在下阀体零件6内设有主阀芯15、主阀芯回位弹簧13、弹簧座7和止动挡圈9，活塞3与上阀体零件2之间设有活塞密封圈4，活塞3与主阀芯15之间设有主阀芯上密封圈16，上阀体零件2与下阀体零件6之间设有阀体密封圈5，主阀芯15与下阀体零件6之间设有主阀芯中密封圈14，弹簧座7与下阀体零件6之间设有主阀芯下密封圈11。当所述自动调压阀处于人工控制制动状态时，上阀体中的三个阀均不得电。其中，切换阀17连通高速进气阀进气口d和驾驶员控制的踏板阀，高速进气阀18处于打开状态，高速排气阀19处于关闭状态。控制腔A的气压与踏板阀输出压力一致。当驾驶员不对踏板阀进行操作时，活塞3在自身重力作用下与主阀芯上密封圈16接触使排气阀门关闭，主阀芯15在主阀芯回位弹簧13的作用下使进气阀门关闭，下阀体进气口h与下阀体出气口i以及下阀体出气口i与下阀体排气口j均隔断；当驾驶员踩下踏板阀时，踏板阀气体经切换阀17和高速进气阀18进入控制腔A，使得控制腔A的气压升高，活塞3向下运动克服主阀芯回位弹簧13作用力后可打开进气阀门，此时，排气阀门关闭，进气口h与出气口i连通，同时出气口i与排气口j隔断；当驾驶员松开踏板阀时，控制腔A气体经踏板阀排至大气，腔内气压降低，活塞3向上运动，主阀芯上密封圈16与活塞3分离，排气阀门打开，同时进气阀门关闭，进气口h与出气口i隔断，且出气口i与排气口j连通，使得制动气室通过排气阀门完成排气泄压。The upper valve body part 2 is provided with a longitudinally movable piston 3, and the lower valve body part 6 is provided with a main valve core 15, a main valve core return spring 13, a spring seat 7 and a stop ring 9, and the piston 3 There is a piston sealing ring 4 between the upper valve body part 2, a main valve core upper sealing ring 16 between the piston 3 and the main valve core 15, and a valve between the upper valve body part 2 and the lower valve body part 6. Body seal ring 5, seal ring 14 in the main spool is provided between the main valve core 15 and the lower valve body part 6, and the lower seal ring 11 of the main spool is provided between the spring seat 7 and the lower valve body part 6. When the automatic pressure regulating valve is in the manual control braking state, the three valves in the upper valve body are all de-energized. Wherein, the switching valve 17 communicates with the intake port d of the high-speed intake valve and the pedal valve controlled by the driver, the high-speed intake valve 18 is in an open state, and the high-speed exhaust valve 19 is in a closed state. The air pressure in the control chamber A is consistent with the output pressure of the pedal valve. When the driver does not operate the pedal valve, the piston 3 will contact the sealing ring 16 on the main valve core under its own gravity to close the exhaust valve, and the main valve core 15 will make the intake air flow under the action of the main valve core return spring 13. When the valve is closed, the air inlet h of the lower valve body is cut off from the air outlet i of the lower valve body, and the air outlet i of the lower valve body is separated from the exhaust port j of the lower valve body; when the driver steps on the pedal valve, the pedal valve gas passes through the switching valve 17 and the high-speed intake valve 18 enter the control chamber A, so that the air pressure in the control chamber A rises, and the piston 3 moves downward to overcome the force of the main valve core return spring 13 to open the intake valve. At this time, the exhaust valve is closed , the air inlet h communicates with the air outlet i, while the air outlet i is cut off from the exhaust port j; when the driver releases the pedal valve, the gas in the control chamber A is discharged to the atmosphere through the pedal valve, the air pressure in the chamber decreases, and the piston 3 moves upward movement, the sealing ring 16 on the main valve core is separated from the piston 3, the exhaust valve is opened, and the intake valve is closed at the same time, the air inlet h is separated from the air outlet i, and the air outlet i is connected to the exhaust port j, so that the brake air The chamber is exhausted and pressure relieved through the exhaust valve.
该商用车电控气压制动***用自动调压阀在具体实施时，能够满足不同驾驶 自动化层级下的商用车气压制动***的需求，如面向自动驾驶的纯电控制动和电控辅助制动等，均可通过给定目标压力值快速精确地调节制动气室的制动压力，区别于具有不同的实施方式，同时，自动调压阀也能够适用于人工控制制动模式。该商用车电控气压制动***用自动调压阀在面向自动驾驶的纯电控制动调压需求时的实施方式如下：The automatic pressure regulating valve for commercial vehicle electronically controlled pneumatic braking system can meet the needs of commercial vehicle pneumatic braking systems at different levels of driving automation, such as purely electronically controlled braking and electronically controlled auxiliary systems for automatic driving. For braking, etc., the brake pressure of the brake air chamber can be quickly and accurately adjusted by a given target pressure value, which is different from different implementations. At the same time, the automatic pressure regulating valve can also be applied to the manual control brake mode. The implementation of the automatic pressure regulating valve for the electronically controlled pneumatic braking system of commercial vehicles when facing the purely electronically controlled braking pressure regulation requirements for automatic driving is as follows:
在车辆正常行驶过程中，若道路状况或车辆运动状况发生变化，制动***通过整车动力学模型计算出各制动气室的目标压力值p 1并将各制动气室的目标压力值p 1输入相应的控制器21，控制器21控制切换阀17工作，电控制动储气罐与控制腔A连通，控制腔A的气压升高，在控制腔A的气压作用下推动活塞3向下运动，活塞3向下运动并推动主阀芯15向下运动，主阀芯15向下运动过程中进气阀门被打开，此时，进气口h与出气口i连通，进气口h的压缩气体通过进气阀门到达出气口i，最后进入制动气室，制动气室压力升高。设置于出气口i处的压力检测口k连接压力传感器，实时采集输出气体压力，并将其反馈至控制器21，控制器21中将输出气压p 2与目标压力值p 1进行比较。当检测到输出压力p 2达到目标压力值p 1时，控制器21控制高速进气阀18得电关闭，此时进气阀门和排气阀门关闭，制动气室压力保持稳定；当检测到输出压力p 2高于目标压力值p 1时，控制器21控制高速进气阀18得电关闭，同时使高速排气阀19得电开启，控制腔A的压缩气体通过高速排气阀排气口g排出而气压降低，控制腔A压力降低致使活塞3和主阀芯15一同上移，上移过程中进气阀门在回位弹簧作用下关闭，继续上移活塞3和主阀芯15上的主阀芯上密封圈16脱离接触从而打开排气阀门，此时出气口i与排气口j连通，出气口i的压缩气体通过排气阀门排向大气，制动气室制动压力降低，当输出气压p 2降低至目标压力值p 1时，控制器21控制高速进气阀18得电关闭，高速排气阀19失电关闭，同时下阀体进气阀门和排气阀门关闭，制动气室压力保持稳定；当检测到输出压力p 2低于目标压力值p 1时，控制器21控制高速进气阀18开启，高速排气阀19失电关闭，控制腔A气压升高，驱动进气阀门打开，输出压力升高，输出压力p 2达到目标 值p 1时，高速进气阀18得电关闭，进气阀门和排气阀门关闭，制动气室压力保持稳定。上述过程反复进行可将输出压力p 2调节与目标压力值p 1一致。 During the normal running of the vehicle, if the road conditions or vehicle movement conditions change, the braking system calculates the target pressure value p of each brake chamber through the vehicle dynamics model and sets the target pressure value of each brake chamber p 1 is input to the corresponding controller 21, the controller 21 controls the switching valve 17 to work, the electric brake gas storage tank communicates with the control chamber A, the air pressure in the control chamber A rises, and the piston 3 is pushed under the action of the air pressure in the control chamber A Downward movement, the piston 3 moves downward and pushes the main valve core 15 to move downward, the intake valve is opened during the downward movement of the main valve core 15, at this time, the air inlet h communicates with the air outlet i, and the air inlet The compressed gas of h reaches the outlet i through the intake valve, and finally enters the brake air chamber, and the pressure of the brake air chamber increases. The pressure detection port k set at the gas outlet i is connected to a pressure sensor to collect the output gas pressure in real time and feed it back to the controller 21. The controller 21 compares the output air pressure p2 with the target pressure value p1. When it is detected that the output pressure p2 reaches the target pressure value p1, the controller 21 controls the high-speed intake valve 18 to be powered off, at this time the intake valve and the exhaust valve are closed, and the brake chamber pressure remains stable; When the output pressure p2 is higher than the target pressure value p1, the controller 21 controls the high-speed intake valve 18 to be energized and closed, and at the same time, the high-speed exhaust valve 19 is energized to open, and the compressed gas in the control chamber A is exhausted through the high-speed exhaust valve Port g is discharged and the air pressure decreases, the pressure of control chamber A decreases, causing the piston 3 and the main valve core 15 to move upward together. During the upward movement, the intake valve is closed under the action of the return spring, and the piston 3 and the main valve core 15 continue to move upward. The sealing ring 16 on the main valve core of the main valve core is out of contact to open the exhaust valve. At this time, the air outlet i is connected to the exhaust port j, and the compressed gas at the air outlet i is discharged to the atmosphere through the exhaust valve, and the braking pressure of the brake chamber decreases. , when the output air pressure p2 drops to the target pressure value p1, the controller 21 controls the high-speed intake valve 18 to be powered on and closed, the high-speed exhaust valve 19 to be de-energized and closed, and at the same time, the intake valve and exhaust valve of the lower valve body are closed. The pressure of the brake chamber remains stable; when it is detected that the output pressure p 2 is lower than the target pressure value p 1 , the controller 21 controls the high-speed intake valve 18 to open, the high-speed exhaust valve 19 is de-energized and closed, and the air pressure in the control chamber A increases , the intake valve is driven to open, the output pressure rises, and when the output pressure p2 reaches the target value p1, the high - speed intake valve 18 is energized and closed, the intake valve and exhaust valve are closed, and the brake chamber pressure remains stable. Repeating the above process can adjust the output pressure p2 to be consistent with the target pressure value p1.
该商用车电控气压制动***用自动调压阀在电控辅助制动时的实施方式如下：在车辆正常制动过程中，制动***根据整车动力学模型和踏板行程计算出制动气室的制动需求压力p 1，驾驶员踩下制动踏板，自动调压阀输出压力为p 3，制动***比较制动需求压力p 1和实际压力p 3。当检测到输出压力p 3达到目标压力值p 1时，控制器21控制切换阀17失电开启，高速进气阀18得电关闭，此时进气阀门和排气阀门关闭，制动气室压力保持稳定；当检测到输出压力p 3高于目标压力值p 1时，控制器21控制高速进气阀18得电关闭，同时使高速排气阀19得电开启，控制腔A的压缩气体通过高速排气阀排气口g排出而使气压降低，控制腔A压力降低致使活塞3和主阀芯15一同上移，上移过程中进气阀门在回位弹簧作用下关闭，继续上移活塞3和主阀芯15上的主阀芯上密封圈16脱离接触从而打开排气阀门，此时出气口i与排气口j连通，出气口i的压缩气体通过排气阀门排向大气，制动气室制动压力降低，当输出气压p 3降低至目标压力值p 1时，控制器21控制高速进气阀18得电关闭，高速排气阀19失电关闭，同时下阀体进气阀门和排气阀门关闭，制动气室压力保持稳定；当检测到输出压力p 3低于目标压力值p 1时，控制器21控制切换阀17得电、高速进气阀18失电开启，高速排气阀19失电关闭，此时切换至电控制动，控制腔A气压升高，驱动进气阀门打开，输出压力升高，输出压力p 3达到目标值p 1时，控制器21控制切换阀17失电，高速进气阀18得电关闭，高速排气阀19失电关闭，进气阀门和排气阀门关闭，制动气室压力保持稳定。上述过程反复进行可将输出压力p 2调节与目标压力值p 1一致。在车辆需要紧急制动时，控制器21直接令切换阀17得电，则压缩气体通过高速进气阀18进入控制腔A，控制腔A气压升高推动活塞3向下运动，继而推动主阀芯15下移打开进气阀门，进气口h与出气口i连通，制动气室增压制动。制动过程完成后，控制器21控制高速进气阀18得电关闭高速排气阀19得电开启，控制腔A的压缩气体全部排出，同时排气阀门打开，制动 气室的压缩气体也通过排气阀门全部排出，从而解除制动，随后令切换阀17失电。 The implementation of the automatic pressure regulating valve for electronically controlled pneumatic braking system of a commercial vehicle is as follows: During the normal braking process of the vehicle, the braking system calculates the braking pressure according to the vehicle dynamic model and the pedal stroke The brake demand pressure p 1 of the air chamber, the driver depresses the brake pedal, the output pressure of the automatic pressure regulating valve is p 3 , and the brake system compares the brake demand pressure p 1 with the actual pressure p 3 . When it is detected that the output pressure p 3 reaches the target pressure value p 1 , the controller 21 controls the switching valve 17 to be de-energized to open, and the high-speed intake valve 18 is energized to close. At this time, the intake valve and exhaust valve are closed, and the brake chamber The pressure remains stable; when it is detected that the output pressure p 3 is higher than the target pressure value p 1 , the controller 21 controls the high-speed intake valve 18 to be energized and closed, and at the same time, the high-speed exhaust valve 19 is energized to open, and the compressed gas in the control chamber A The air pressure is reduced through the discharge of the exhaust port g of the high-speed exhaust valve, and the pressure of the control chamber A is reduced so that the piston 3 and the main valve core 15 move upward together. During the upward movement, the intake valve is closed by the return spring and continues to move upward. The sealing ring 16 on the main valve core on the piston 3 and the main valve core 15 is out of contact to open the exhaust valve. At this time, the gas outlet i is connected to the exhaust port j, and the compressed gas at the gas outlet i is discharged to the atmosphere through the exhaust valve. The braking pressure of the brake chamber decreases. When the output air pressure p3 drops to the target pressure value p1, the controller 21 controls the high - speed intake valve 18 to be powered on and closed, and the high-speed exhaust valve 19 to be powered off and closed. At the same time, the lower valve body enters The air valve and the exhaust valve are closed, and the pressure of the brake chamber remains stable; when it is detected that the output pressure p3 is lower than the target pressure value p1, the controller 21 controls the switching valve 17 to be powered on, and the high-speed intake valve 18 is de-energized to open , the high-speed exhaust valve 19 is de-energized and closed. At this time, it is switched to electronically controlled braking. The air pressure in the control chamber A increases, driving the intake valve to open, and the output pressure increases. When the output pressure p 3 reaches the target value p 1 , the controller 21 controls the switching valve 17 to be de-energized, the high-speed intake valve 18 is energized and closed, the high-speed exhaust valve 19 is de-energized and closed, the intake valve and the exhaust valve are closed, and the brake chamber pressure remains stable. Repeating the above process can adjust the output pressure p2 to be consistent with the target pressure value p1. When the vehicle needs emergency braking, the controller 21 directly energizes the switching valve 17, then the compressed gas enters the control chamber A through the high-speed intake valve 18, and the air pressure in the control chamber A increases to push the piston 3 to move downward, and then pushes the main valve The core 15 moves down to open the intake valve, the intake port h communicates with the air outlet i, and the brake chamber pressurizes and brakes. After the braking process is completed, the controller 21 controls the high-speed intake valve 18 to be energized to close the high-speed exhaust valve 19. The high-speed exhaust valve 19 is energized to open, and all the compressed gas in the control chamber A is discharged. It is fully discharged through the exhaust valve, thereby releasing the brake, and then de-energizing the switching valve 17 .
该商用车电控气压制动***用自动调压阀在人工控制制动时的实施方式如下：在车辆正常制动过程中，此时自动调压阀不通电，切换阀17处于常开状态、高速进气阀18处于常开状态和高速排气阀19均处于常闭状态。驾驶员踩下制动踏板，压缩空气通切换阀17的人工控制制动进气口b，经高速进气阀18进入控制腔A，控制腔A气压升高推动活塞3向下运动，继而推动主阀芯15下移打开进气阀门，进气口h与出气口i连通，制动气室增压制动。；当驾驶员松开制动踏板，，控制腔A的气体经高速进气阀18和切换阀17，有踏板阀排出，制动气室的气体，活塞3由于控制腔A的压力减小，向上移动，是的下阀体出气口i和下阀体排气口j连通，是的制动气室的压缩气体排出到大气。本发明并不局限于上述实施例，在本发明公开的技术方案的基础上，本领域的技术人员根据所公开的技术内容，不需要创造性的劳动就可以对其中的一些技术特征作一些替代和变形，这些替代和变形均在本发明的保护范围内。The implementation of the automatic pressure regulating valve for the electronically controlled pneumatic braking system of commercial vehicles is as follows when manually controlling the braking: during the normal braking process of the vehicle, the automatic pressure regulating valve is not energized at this time, and the switching valve 17 is in the normally open state. The high-speed intake valve 18 is in a normally open state and the high-speed exhaust valve 19 is in a normally closed state. When the driver steps on the brake pedal, the compressed air passes through the manually controlled brake air inlet b of the switching valve 17, enters the control chamber A through the high-speed air intake valve 18, and the air pressure in the control chamber A rises to push the piston 3 to move downward, and then The main valve core 15 moves down to open the intake valve, the intake port h communicates with the air outlet i, and the brake chamber pressurizes and brakes. ; When the driver releases the brake pedal, the gas in the control chamber A passes through the high-speed intake valve 18 and the switching valve 17, and the pedal valve is discharged, and the gas in the brake chamber, the piston 3, due to the pressure reduction of the control chamber A, Moving upwards, the air outlet i of the lower valve body communicates with the exhaust port j of the lower valve body, and the compressed gas in the brake chamber is discharged to the atmosphere. The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and adjustments to some of the technical features without creative work according to the disclosed technical content. Deformation, these substitutions and deformations are all within the protection scope of the present invention.

Claims (9)

  1. 一种适于商用车多层级驾驶自动化的自动调压阀，其特征在于：包括上阀体、下阀体、活塞、主阀芯组件、切换阀、高速进气阀和高速排气阀；切换阀、高速进气阀和高速排气阀均安装于上阀体上端；活塞位于上阀体和下阀体组成的腔体内，将腔体分为上部的控制腔和下部的下腔体；主阀芯组件安装于下阀体。An automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles, characterized in that it includes an upper valve body, a lower valve body, a piston, a main valve core assembly, a switching valve, a high-speed intake valve and a high-speed exhaust valve; Valve, high-speed intake valve and high-speed exhaust valve are all installed on the upper end of the upper valve body; the piston is located in the cavity composed of the upper valve body and the lower valve body, which divides the cavity into the upper control cavity and the lower lower cavity; the main The spool assembly is installed on the lower valve body.
  2. 根据权利要求1所述的适于商用车多层级驾驶自动化的自动调压阀，其特征在于：所述自动调压阀在***断电故障在内的失控情况下，切换阀、高速进气阀和高速排气阀不得电，分别处于常通状态、常通状态和常闭状态，能够保证通过人工控制完成常规制动。The automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles according to claim 1, characterized in that: the automatic pressure regulating valve can switch between the switching valve and the high-speed intake valve in the event of an out-of-control situation including a system power failure The high-speed exhaust valve and the high-speed exhaust valve are not powered, and are respectively in the normally open state, normally open state and normally closed state, which can ensure the completion of conventional braking through manual control.
  3. 根据权利要求1所述的适于商用车多层级驾驶自动化的自动调压阀，其特征在于：所述切换阀为能够高速往复运动的二位三通电磁阀，常开进气口b为人工控制进气口，与踏板阀连通，常闭进气口a为电控进气口，与电控制动气罐连通，用于实现人工控制制动和电控制动两种制动模式之间的切换，切换阀在包括不通电或***断电故障在内的失控状态下，连通踏板阀和高速进气阀的进气口d。The automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles according to claim 1, characterized in that: the switching valve is a two-position three-way solenoid valve capable of high-speed reciprocating motion, and the normally open air inlet b is manually controlled The air inlet is connected with the pedal valve, and the normally closed air inlet a is an electronically controlled air inlet, which is connected with the electronically controlled brake gas tank, and is used to realize the switching between the two braking modes of manual control braking and electronic control braking , the switching valve connects the pedal valve and the intake port d of the high-speed intake valve in an out-of-control state including no power supply or system power failure.
  4. 根据权利要求1所述的适于商用车多层级驾驶自动化的自动调压阀，其特征在于：所述高速进气阀为常开二位三通电磁阀，不通电或***断电故障等失控时高速进气阀进气口d和出气口e连通，高速进气阀进气口d连接切换阀的出气口c，高速进气阀出气口连接上阀体的控制腔A；所述高速排气阀为常闭二位三通电磁阀，不通电或***断电故障等失控时高速排气阀进气口f和出气口g不通，高速排气阀进气口连接上阀体的控制腔A，出气口连接至大气，出气口处设有一个消音器；采用高速进气阀和高速排气阀控制进、排气以调节控制腔的压力，进而调节制动压力；因此，所述自动调压阀能在***断电故障等失控的情况下，依旧能够保证人工控制制动的正常实现。The automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles according to claim 1, characterized in that: the high-speed intake valve is a normally open two-position three-way solenoid valve, which is out of control due to power failure or system power failure The air inlet d of the high-speed air intake valve is connected to the air outlet e, the air inlet d of the high-speed air intake valve is connected to the air outlet c of the switching valve, and the air outlet of the high-speed air intake valve is connected to the control chamber A of the upper valve body; The air valve is a normally closed two-position three-way solenoid valve. When the power is off or the system is out of control, the air inlet f and the air outlet g of the high-speed exhaust valve are blocked, and the air inlet of the high-speed exhaust valve is connected to the control chamber of the upper valve body. A. The air outlet is connected to the atmosphere, and there is a muffler at the air outlet; the high-speed intake valve and the high-speed exhaust valve are used to control the intake and exhaust to adjust the pressure of the control chamber, and then adjust the braking pressure; therefore, the automatic The pressure regulating valve can still ensure the normal realization of manual control braking in the case of out-of-control situations such as system power failure.
  5. 根据权利要求1所述的适于商用车多层级驾驶自动化的自动调压阀，其特征在于：在所述下阀体出气口设有压力检测口k，内设压力传感器，实时测量自动调压阀出气口的压力，实现制动压力实时控制。The automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles according to claim 1, characterized in that: a pressure detection port k is provided at the air outlet of the lower valve body, and a pressure sensor is installed inside to measure the automatic pressure regulation in real time The pressure at the air outlet of the valve realizes real-time control of the brake pressure.
  6. 根据权利要求1所述的适于商用车多层级驾驶自动化的自动调压阀，其特征在于：主阀芯组件包括主阀芯回位弹簧和主阀芯；活塞在控制腔的压力、下腔体压力和主阀芯回位弹簧的共同作用下垂直往复运动，控制主阀芯的垂直位移，实现进气口面积的控制，最终实现制动气室压力的调节。The automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles according to claim 1, characterized in that: the main spool assembly includes the main spool return spring and the main spool; the pressure of the piston in the control chamber, the lower chamber Under the joint action of the body pressure and the return spring of the main valve core, the vertical reciprocating motion controls the vertical displacement of the main valve core, realizes the control of the air inlet area, and finally realizes the adjustment of the pressure of the brake chamber.
  7. 一种适于商用车多层级驾驶自动化的自动调压阀控制方法，其特征在于采用上述的适于商用车多层级驾驶自动化的自动调压阀根据制动需求自动调节制动压力，实现自动制动，包括如下步骤：An automatic pressure regulating valve control method suitable for multi-level driving automation of commercial vehicles, characterized in that the above-mentioned automatic pressure regulating valve suitable for multi-level driving automation of commercial vehicles is used to automatically adjust the braking pressure according to the braking demand to realize automatic braking. action, including the following steps:
    (1)电控气压制动***根据车辆行驶状况提出某一制动气室的目标制动压力p 1，并将 该目标制动压力值p 1输入控制器中； (1) The electronically controlled air pressure braking system proposes the target braking pressure p 1 of a certain brake chamber according to the driving conditions of the vehicle, and inputs the target braking pressure value p 1 into the controller;
    (2)控制器驱动切换阀动作，切换阀出气口c接通高速进气阀进气口d，同时控制高速进气阀和高速排气阀工作，所述车辆电控气压制动自动调压阀进入电控工作模式；(2) The controller drives the switching valve to act, the switching valve outlet c is connected to the high-speed intake valve inlet d, and simultaneously controls the high-speed intake valve and the high-speed exhaust valve to work, and the electronically controlled pneumatic brake of the vehicle automatically adjusts the pressure The valve enters the electronic control mode;
    (3)压力传感器检测所述车辆电控气压制动自动调压阀出口压力p 2，并将该出口压力值p 2输入控制器中与目标制动压力p 1比较； (3) The pressure sensor detects the outlet pressure p2 of the automatic pressure-regulating valve of the electronically controlled pneumatic brake of the vehicle, and inputs the outlet pressure value p2 into the controller for comparison with the target brake pressure p1 ;
    (4)当p 2不大于p 1时，控制器控制高速进气阀、高速排气阀协同工作进行调压，增大控制腔A的压力，进而增大主阀芯位移，增加进气口面积，使出口压力p 2升高； (4) When p 2 is not greater than p 1 , the controller controls the high-speed intake valve and the high-speed exhaust valve to work together to adjust the pressure to increase the pressure of the control chamber A, thereby increasing the displacement of the main valve core and increasing the intake port area, so that the outlet pressure p 2 increases;
    (5)当p 2大于p 1时，控制器控制高速进气阀、高速排气阀协同工作进行调压，减小控制腔A的压力，使得主阀芯位移减小，回归至初始位置，同时排气口与大气相连通，使出口压力p 2降低； (5) When p 2 is greater than p 1 , the controller controls the high-speed intake valve and high-speed exhaust valve to work together to adjust the pressure, reducing the pressure of the control chamber A, so that the displacement of the main valve core decreases and returns to the initial position. At the same time, the exhaust port is connected with the atmosphere to reduce the outlet pressure p2 ;
    (6)控制器控制高速进气阀和高速排气阀进行高速反复动作，调节所述车辆电控气压制动自动调压阀，使得其出口压力p 2无限接近目标制动压力p 1。 (6) The controller controls the high-speed intake valve and the high-speed exhaust valve to perform high-speed repeated actions, and adjusts the automatic pressure-regulating valve of the electronically controlled pneumatic brake of the vehicle so that the outlet pressure p 2 is infinitely close to the target braking pressure p 1 .
  8. 根据权利要求7所述的适于商用车多层级驾驶自动化的自动调压阀控制方法，其特征在于根据制动需求人工控制制动压力，实现人工制动，包括如下步骤：The automatic pressure regulating valve control method suitable for multi-level driving automation of commercial vehicles according to claim 7, characterized in that the braking pressure is manually controlled according to the braking demand to realize manual braking, comprising the following steps:
    (7)当驾驶员要完全独立进行车辆的制动任务，需主管进行监控周围环境和车况，通过踩下制动踏板来进行制动，调节制动气室的制动压力；(7) When the driver wants to perform the braking task of the vehicle completely independently, the supervisor needs to monitor the surrounding environment and vehicle conditions, brake by stepping on the brake pedal, and adjust the brake pressure of the brake chamber;
    (8)此时的自动调压阀处于不通电状态，其切换阀处于进气口b与出气口c相通的位置；高速进气阀处于常开状态，进气口d与出气口e相通的位置；高速排气阀处于常闭状态，不与大气连通；(8) At this time, the automatic pressure regulating valve is in a de-energized state, and its switching valve is in the position where the air inlet b communicates with the air outlet c; the high-speed air intake valve is in a normally open state, and the air inlet d communicates with the air outlet e position; the high-speed exhaust valve is in a normally closed state and is not connected to the atmosphere;
    (9)当驾驶员踩下制动踏板，气体经切换阀和高速进气阀进入控制腔A，通过活塞和主阀芯的运动，使得下阀体进气口h和出气口i相连通，完成制动气室的升压；(9) When the driver depresses the brake pedal, the gas enters the control chamber A through the switching valve and the high-speed intake valve, and the movement of the piston and the main valve core makes the air inlet h of the lower valve body communicate with the air outlet i, Complete the pressure boost of the brake chamber;
    (10)当驾驶员松开制动踏板，控制腔气体经高速进气阀和切换阀，通过踏板阀排出的大气，下腔体的气体经下阀体排气口j排出到大气；(10) When the driver releases the brake pedal, the gas in the control chamber passes through the high-speed intake valve and switching valve, and the atmosphere is discharged through the pedal valve, and the gas in the lower chamber is discharged to the atmosphere through the outlet j of the lower valve body;
  9. 根据权利要求7所述的适于商用车多层级驾驶自动化的自动调压阀控制方法，其特征在于根据制动需求快速切换控制压力的模式，实现辅助制动，包括如下步骤：According to the automatic pressure regulating valve control method suitable for multi-level driving automation of commercial vehicles according to claim 7, it is characterized in that the mode of controlling the pressure is quickly switched according to the braking demand to realize auxiliary braking, comprising the following steps:
    (11)电控辅助制动车辆在常规情况下，此时电控气压制动***根据车辆行驶状况及驾驶员对制动踏板施加的操作，判断自动调压阀的控制模式；(11) Under normal circumstances for electronically controlled auxiliary braking vehicles, the electronically controlled pneumatic braking system judges the control mode of the automatic pressure regulating valve according to the driving conditions of the vehicle and the driver's operation on the brake pedal;
    (12)当驾驶员踩压制动踏板时，控制器通过接收到的踏板行程、踩踏压力以及时间等 信息，判断是否切换为人工控制制动模式，若切换为人工控制制动模式，此时的制动方法依照(7)(8)(9)(10)执行；(12) When the driver depresses the brake pedal, the controller judges whether to switch to the manual control braking mode based on the received information such as the pedal travel, pedaling pressure and time. If the switch is to the manual control braking mode, the The braking method shall be implemented in accordance with (7)(8)(9)(10);
    (13)当人工控制制动时出现走神、踩踏制动踏板不足等问题时，同时车辆也监测到周围环境和行驶工况下制动压力不足时，切换阀会切换至电子控制制动模式，保障车辆安全，此时的控制制动方法依照(1)(2)(3)(4)(5)(6)；(13) When there are problems such as distraction and insufficient braking pedal during manual control braking, and the vehicle also detects insufficient braking pressure under the surrounding environment and driving conditions, the switching valve will switch to the electronic control braking mode. To ensure the safety of the vehicle, the control braking method at this time is in accordance with (1)(2)(3)(4)(5)(6);
    (14)当***断电故障等失控时，切换阀、高速进气阀和高速排气阀都处于不通电状态，此时切换阀会切换到人工控制模式，此时的制动方法依照(7)(8)(9)(10)执行。(14) When the system is out of control due to power failure, etc., the switching valve, high-speed intake valve and high-speed exhaust valve are all in a de-energized state. At this time, the switching valve will switch to the manual control mode. The braking method at this time is in accordance with (7 )(8)(9)(10) execute.
PCT/CN2021/109032 2021-07-19 2021-07-28 Automatic pressure-regulating valve suitable for multi-level driving automation of commercial vehicle, and control method therefor WO2023000363A1 (en)

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